Bhaskar DasGupta

TL;DR: A review of the literature on the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform can be found in this article, where the authors highlight the distinctions of this class from the conventional serial robot manipulators and the novel perspectives that are necessary for the analysis and design of the Stewart platforms in particular and parallel manipulators in general.

TL;DR: In this paper, an inverse dynamic formulation by the Newton-Euler approach for the Stewart platform manipulator of the most general architecture and models all the dynamic and gravity effects as well as the viscous friction at the joints is presented.

TL;DR: An inverse dynamic formulation by the Newton–Euler approach for the Stewart platform manipulator of the most general architecture is presented and models all the dynamic and gravity effects as well as the viscous friction at the joints.

TL;DR: In this paper, the authors address the question of dynamic formulation of the six-degrees-of-freedom parallel manipulator known as the Stewart platform and derive the dynamic equations for the two widely used kinematic structures of the Stewart platforms through the Newton-Euler approach.

TL;DR: In this paper, a general strategy based on the Newton-Euler approach to the dynamic formulation of parallel manipulators is presented, which can be used with advantage not only for inverse dynamics computations, but also for the derivation of dynamic equations in closed form.